#ifndef ZORFCS_STATE_H
#define ZORFCS_STATE_H

#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"

struct zorfcs_state_s {
	int fsmstate;
	uint32_t failures;

	float airspeed_lp;
	float altitude_est;
	float vspeed_est_lp;

	int active_wpt;
	float xte;
	float atd;

	float roll_sp;
	float pitch_sp;
	float alt_sp;
	float ias_sp;

	struct {
		double lat;
		double lon;
		float alt;
	} from;

	struct {
		double lat;
		double lon;
		float alt;
	} to;
};

/* register this as object request broker structure */
ORB_DECLARE(zorfcs_state);

#endif
